Fix ROS2FrameComponent::UpdateNamespaceConfiguration

[zakmat]

I'm not sure where this PR should be targeted since it is right after the release. Please adjust as necessary.

What does this PR do?

Solves #770.

How was this PR tested?

Added Unit Test. Also tested following the scenario from the issue.

[michalpelka]

I think it should point to development, and could be added to the stabilization branch for point release.

[zakmat]

I have added tests for all other namespace strategies

[jhanca-robotecai]

I think it should point to development, and could be added to the stabilization branch for point release.

I agree. The only problem is that the development branch is outdated compared to stabilization/2409. This code does not exist in the development branch, hence your PR should wait for #773

[jhanca-robotecai]

The code works as expected: it allows to spawn multiple robots with different namespaces.

It works correct with ROS2FleetTemplate:

jhanca@robo-pc-051 ~/devroot/projects/R2Fleet_dev/Examples
  % ros2 topic list | grep scan
/robot1/scan
/robot2/scan
/robot3/scan

jhanca@robo-pc-051 ~/devroot/projects/R2Fleet_dev/Examples
  % ros2 topic list | grep odom 
/robot1/odom
/robot2/odom
/robot3/odom

Spawning works correctly outside of the script as well:

jhanca@robo-pc-051 ~/devroot/projects/R2Fleet_dev/Examples
  % ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: proteus, robot_namespace: first }' ; ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: proteus, robot_namespace: second }'
requester: making request: gazebo_msgs.srv.SpawnEntity_Request(name='proteus', xml='', robot_namespace='first', initial_pose=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=0.0, y=0.0, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.0, w=1.0)), reference_frame='')

response:
gazebo_msgs.srv.SpawnEntity_Response(success=True, status_message='proteus_8')

requester: making request: gazebo_msgs.srv.SpawnEntity_Request(name='proteus', xml='', robot_namespace='second', initial_pose=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=0.0, y=0.0, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.0, w=1.0)), reference_frame='')

response:
gazebo_msgs.srv.SpawnEntity_Response(success=True, status_message='proteus_9')


jhanca@robo-pc-051 ~/devroot/projects/R2Fleet_dev/Examples
  % ros2 topic list
/clock
/first/cmd_vel
/first/scan
/parameter_events
/rosout
/second/cmd_vel
/second/scan
/tf
/tf_static

[jhanca-robotecai]

Switched the target to development, the branch will be rebased after #773 is merged

[byrcolin]

big commit, dont see anything wrong

[jhanca-robotecai]

big commit, dont see anything wrong

I rebased the commit and force pushed to the branch of the author, the PR is now very compact. The code itself was also reviewed and pushed to the stabilization/2409 branch.